U.S. patent number 7,477,978 [Application Number 11/094,323] was granted by the patent office on 2009-01-13 for rumble strip responsive system: vehicle control on rumble strip.
This patent grant is currently assigned to Nissan Technical Center North America, Inc.. Invention is credited to Hiroshi Kawazoe, Hiroshi Tsuda.
United States Patent |
7,477,978 |
Kawazoe , et al. |
January 13, 2009 |
Rumble strip responsive system: vehicle control on rumble strip
Abstract
A device adapted to automatically control the effective output
of a vehicle control system/component that, for example,
automatically applies braking and/or steering control, in response
to tire contact with a rumble strip. The device includes a
processor configured to receive a first signal indicative of
contact of a vehicle tire with a rumble strip. The processor also
includes logic to determine that at least one vehicle tire is in
contact with a rumble strip based at least on the first signal. If
the processor has received the first signal and has determined that
the at least one vehicle tire is in contact with the rumble strip,
the processor then issues a command to control the effective output
of at least one of a vehicle control component or a vehicle control
system. For example, an automatically applied braking force may be
reduced to 1/2 its normal applied force.
Inventors: |
Kawazoe; Hiroshi (Falls Church,
VA), Tsuda; Hiroshi (McLean, VA) |
Assignee: |
Nissan Technical Center North
America, Inc. (Farmington Hills, MI)
|
Family
ID: |
37071614 |
Appl.
No.: |
11/094,323 |
Filed: |
March 31, 2005 |
Prior Publication Data
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|
|
|
Document
Identifier |
Publication Date |
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US 20060224293 A1 |
Oct 5, 2006 |
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Current U.S.
Class: |
701/70; 701/1;
702/147; 701/80 |
Current CPC
Class: |
B60T
7/22 (20130101); B62D 6/00 (20130101); B60W
40/064 (20130101); B60T 2201/083 (20130101); B60W
2555/20 (20200201); B60T 2201/08 (20130101) |
Current International
Class: |
G08B
23/00 (20060101); G06F 19/00 (20060101) |
Field of
Search: |
;701/70,73,80,90,91,1
;340/436,933,435,425.5,905,575 ;702/147,47,56 ;180/272,167 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
Other References
US. Appl. 11/094,322, filed Mar. 31, 2005, Kawazoe et al. cited by
other .
U.S. Appl. No. 10/811,148, filed Mar. 29, 2004, Kawazoe et al.
cited by other .
U.S. Appl. No. 10/811,149, filed Mar. 29, 2004, Kawazoe et al.
cited by other.
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Primary Examiner: Nguyen; Tan Q
Attorney, Agent or Firm: Foley & Lardner LLP
Claims
What is claimed is:
1. A device adapted to automatically control the effective output
of a vehicle control system/component in response to tire contact
with a rumble strip, comprising: a processor adapted to receive at
least a first signal indicative of contact of a first vehicle tire
with a rumble strip, wherein the processor includes logic to:
determine that at least one vehicle tire is in contact with a
rumble strip based at least on the first signal; and only if the
processor has received the first signal and has determined that the
at least one vehicle tire is in contact with the rumble strip,
issue a command to control the effective output of at least one of
a vehicle control component or a vehicle control system to take
into consideration influence of a reduced coefficient of friction
due to tire contact with the rumble strip.
2. The device of claim 1, wherein the command is issued after at
least one of the respective vehicle control component or the
vehicle control system has been engaged.
3. The device of claim 1, wherein the command is issued before at
least one of the respective vehicle control component or the
vehicle control system has been engaged.
4. The device of claim 1, further comprising a rumble strip sensor
adapted to sense input from a rumble strip into the first vehicle
tire and output the first signal indicative of contact between the
first vehicle tire and the rumble strip.
5. The device of claim 1, wherein the command disables at least one
of the vehicle control component or the vehicle control system.
6. The device of claim 5, wherein at least one of the vehicle
control component or the vehicle control system includes at least
one of a brake control and a steering control.
7. The device of claim 1, wherein the processor is adapted to
receive an input indicative of a type of rumble strip in contact
with the first vehicle tire, and wherein the processor further
includes logic to analyze the first signal and further issue the
command based on the type of rumble strip in contact with the first
vehicle tire, and wherein at least one of (i) the first signal
carries the input and (ii) a second signal carries the input.
8. The device of claim 7, wherein at least one of the first signal
carries the input and a second signal carries at least a portion of
the input.
9. The device of claim 1, wherein the processor is adapted to
receive an input indicative of a type of rumble strip in contact
with the first vehicle tire, and wherein the processor further
includes logic to analyze the first signal and further issue the
command based on the type of rumble strip in contact with the first
vehicle tire, and wherein the logic to analyze the first signal and
issue the command based on the type of rumble strip in contact with
the first vehicle tire includes logic to: determine that the input
is indicative of a first type of rumble strip as opposed to at
least a second type of rumble strip, and only if a determination is
made that the input is indicative of the first type of rumble
strip, issue the command, wherein the command controls the
effective output of at least one of the vehicle control component
or the vehicle control system in a first predetermined manner; and
determine that the input is indicative of a second type of rumble
strip as opposed to at least the first type of rumble strip, and
only if a determination is made that the input is indicative of the
second type of rumble strip, issue the command, wherein the command
controls the effective output of at least one of the vehicle
control component or the vehicle control system in a second
predetermined manner, wherein the second predetermined manner is
different than the first predetermined manner.
10. The device of claim 1, wherein the processor is adapted to
receive an input indicative of a type of rumble strip in contact
with the first vehicle tire, and wherein the processor further
includes logic to analyze the first signal and further issue the
command based on the type of rumble strip in contact with the first
vehicle tire, and wherein the logic to analyze the first signal and
further determine whether to issue the command based on the type of
rumble strip in contact with the first vehicle tire includes: logic
to analyze the input and determine that the input is indicative of
a first type of rumble strip as opposed to at least a second type
of rumble strip; and issue the command only if a determination is
made that the input is indicative of the first type of rumble strip
as opposed to at least a second type of rumble strip.
11. The device of claim 1, wherein the command partially limits the
effective output of at least one of the vehicle control component
or the vehicle control system.
12. The device of claim 11, wherein at least one of the vehicle
control component or the vehicle control system includes at least
one of a brake control and a steering control.
13. The device of claim 11, wherein the processor is further
adapted to receive a second signal indicative of at least one of an
outside temperature that is freezing and a value of an outside
temperature, wherein the processor further includes logic to:
analyze the second signal and determine whether the outside
temperature is a freezing temperature; and only if the processor
determines that the outside temperature is a freezing temperature,
issue the command.
14. The device of claim 1, wherein at least one of the vehicle
control component or the vehicle control system includes at least
one of a brake control and a steering control, and wherein the
issued command changes a ratio of right to left automatic brake
application.
15. The device of claim 1, wherein at least one of the vehicle
control component or the vehicle control system includes at least
one of a brake control and a steering control, and wherein the
issued command changes a ratio of right to left automatic brake
application, wherein the ratio of right to left automatic brake
application is greater than one if a side of the vehicle on which
the first vehicle tire in contact with the rumble strip is located
is the right side, and wherein the ratio of right to left automatic
brake application is lesser than one if the side of the first
vehicle on which the first vehicle tire in contact with the rumble
strip is located is the left side.
16. The device of claim 1, wherein the command reduces at least one
of a gain of the vehicle control component or a gain of the vehicle
control system.
17. The device of claim 16, wherein at least one of the vehicle
control component or the vehicle control system includes at least
one of a brake control and a steering control.
18. The device of claim 17, wherein the issued command changes a
ratio of right to left automatic brake application.
19. The device of claim 17, wherein the issued command changes a
ratio of right to left automatic brake application, wherein the
ratio of right to left automatic brake application is greater than
one if the side of the vehicle on which the first vehicle tire in
continued contact with the rumble strip is located is the right
side, and wherein the ratio of right to left automatic brake
application is less than one if the side of the vehicle on which
the first vehicle tire in continued contact with the rumble strip
is located is the left side.
20. The device of claim 16, wherein the processor is further
adapted to receive a second signal indicative of at least one of an
outside temperature that is freezing and a value of an outside
temperature, wherein the processor further includes logic to:
analyze the second signal and determine whether the outside
temperature is a freezing temperature; and only if the processor
determines that the outside temperature is a freezing temperature,
issue the command.
21. The device of claim 16, wherein the processor is further
adapted to: receive a first input indicative of a side of the first
vehicle on which the vehicle tire in contact with the rumble strip
is located; and receive a second input indicative of a state of the
vehicle with respect to vehicle road departure and direction of
road departure; wherein the processor further includes logic to:
determine whether the first vehicle tire is in continued contact
with the rumble strip; determine whether the vehicle is in a state
of continued road departure based on the second input; and only if
the vehicle is in the state of continued road departure, and, with
respect to a lateral direction of the vehicle, only if the
direction of road departure is opposite the side of the vehicle on
which the first vehicle tire in continued contact with the rumble
strip is located, issue the command.
22. The device of claim 1, wherein the processor is adapted to
receive an input indicative of a type of rumble strip in contact
with the first vehicle tire, wherein the processor further includes
logic to analyze the first signal and further issue the command
based on the type of rumble strip in contact with the first vehicle
tire, wherein the command activates at least one of the vehicle
control component or the vehicle control system, and wherein the
logic to analyze the first signal and issue the command based on
the type of rumble strip in contact with the first vehicle tire
includes logic to: determine that the input is indicative of a
first type of rumble strip as opposed to at least a second type of
rumble strip, and only if a determination is made that the input is
indicative of the first type of rumble strip, issue the
command.
23. The device of claim 1, or 11, or 16, wherein the processor is
further adapted to receive a second signal indicative of at least
one of an outside temperature that is freezing and a value of an
outside temperature, wherein the processor further includes logic
to: analyze the second signal and determine whether the outside
temperature is a freezing temperature; and only if the processor
determines that the outside temperature is a freezing temperature,
issue the command.
24. The device of claim 1, or 11, or 16, wherein the processor is
adapted to receive an input indicative of a type of rumble strip in
contact with the first vehicle tire, and wherein the processor
further includes logic to analyze the first signal and further
issue the command based on the type of rumble strip in contact with
the first vehicle tire.
25. The device of claim 1, or 5, or 11, or 14, or 16, or 18,
wherein the processor is further adapted to: receive an input
indicative of a state of the vehicle with respect to vehicle road
departure; wherein the processor further includes logic to:
determine whether the first vehicle tire is in continued contact
with the rumble strip; determine whether the vehicle is in a state
of continued road departure based on the input; and only if the
first vehicle tire is in continued contact with the rumble strip
and the vehicle is in the state of continued road departure, issue
the command.
26. The device of claim 1, or 5, or 11, or 15, or 16, or 19,
wherein the processor is further adapted to: receive a first input
indicative of a side of the vehicle on which the first vehicle tire
in contact with the rumble strip is located; and receive a second
input indicative of a state of the vehicle with respect to vehicle
road departure and direction of road departure; wherein the
processor further includes logic to: determine whether the first
vehicle tire is in a continued contact with the rumble strip;
determine whether the vehicle is in a state of continued road
departure based on the second input; and only if the vehicle is in
the state of continued road departure, and, with respect to a
lateral direction of the vehicle, only if the direction of road
departure is opposite the side of the vehicle on which the first
vehicle tire in continued contact with the rumble strip is located,
issue the command.
27. A device adapted to automatically control the effective output
of a vehicle control system/component in response to tire contact
with a rumble strip, comprising: a processor adapted to receive at
least a first signal indicative of at least one of (i) contact of a
first vehicle tire with a rumble strip and (ii) absence of contact
of the first vehicle tire with a rumble strip, wherein the
processor includes logic to: determine that no vehicle tire is in
contact with a rumble strip based at least on one of (i) the first
signal and (ii) an absence of the first signal; and only if the
processor has determined that no vehicle tire is in contact with
the rumble strip, issue a command to enable at least one of a
vehicle control component or a vehicle control system.
28. The device of claim 27, wherein at least one of the vehicle
control component or the vehicle control system includes at least
one of a brake control and a steering control.
29. The device of claim 28, wherein the processor is further
adapted to: receive an input indicative of a state of the vehicle
with respect to vehicle road departure; wherein the processor
further includes logic to: determine whether the first vehicle tire
is in continued contact with the rumble strip; determine whether
the vehicle is in a state of road departure recovery or continued
road departure based on the second input; and only if the first
vehicle tire is not in continued contact with the rumble strip and
the vehicle is in the state of continued road departure, issue the
command; wherein the issued command changes a ratio of right to
left automatic brake application.
30. The device of claim 28, wherein the processor is further
adapted to: receive a first input indicative of a side of the
vehicle on which the first vehicle tire in contact with the rumble
strip is located; and receive a second input indicative of a state
of the vehicle with respect to vehicle road departure and direction
of road departure; wherein the processor further includes logic to:
determine whether the first vehicle tire is in continued contact
with the rumble strip; determine whether the vehicle is in a state
of road departure recovery or continued road departure based on the
second input; and only if the vehicle is in the state of continued
road departure, and, with respect to a lateral direction of the
vehicle, only if the direction of road departure is the same as the
side of the vehicle on which the first vehicle tire in continued
contact with the rumble strip is located, issue the command;
wherein the issued command changes a ratio of right to left
automatic brake application, wherein the ratio of right to left
automatic brake application is greater than one if the side of the
vehicle on which the first vehicle tire in continued contact with
the rumble strip is located is the right side, and wherein the
ratio of right to left automatic brake application is less than one
if the side of the vehicle on which the first vehicle tire in
continued contact with the rumble strip is located is the left
side.
31. The device of claim 27, wherein the processor is further
adapted to receive a second signal indicative of at least one of a
freezing outside temperature and a value of an outside temperature,
wherein the processor further includes logic to: analyze the second
signal and determine whether the outside temperature is a freezing
temperature; and only if the processor determines that the outside
temperature is not a freezing temperature, issue the command,
wherein the command activates at least one of the vehicle control
component or the vehicle control system.
32. The device of claim 27, wherein the processor is further
adapted to: receive a second input indicative of a state of the
vehicle with respect to vehicle road departure; wherein the
processor further includes logic to: determine whether the first
vehicle tire is in continued contact with the rumble strip;
determine whether the vehicle is in a state of continued road
departure based on the second input; and only if the first vehicle
tire is not in continued contact with the rumble strip and the
vehicle is in the state of continued road departure, issue the
command.
33. The device of claim 27, wherein the processor is further
adapted to: receive a first input indicative of a side of the
vehicle on which the first vehicle tire in contact with the rumble
strip is located; and receive a second input indicative of a state
of the vehicle with respect to vehicle road departure and direction
of road departure; wherein the processor further includes logic to:
determine whether the first vehicle tire is in continued contact
with the rumble strip; determine whether the vehicle is in a state
of continued road departure based on the second input; and only if
the vehicle is in the state of continued road departure, and, with
respect to a lateral direction of the vehicle, only if the
direction of road departure is the same as the side of the vehicle
on which the first vehicle tire in continued contact with the
rumble strip is located, issue the command.
34. A program product for automatically controlling the effective
output of a vehicle control system/component in response to tire
contact with a rumble strip comprising machine-readable program
code for causing, when executed, a machine to perform the following
method: determine that at least one vehicle tire is in contact with
a rumble strip based at least on a first signal indicative of
contact between a vehicle tire and a rumble strip; and only if a
processor has received the first signal and has determined that the
at least one vehicle tire is in contact with the rumble strip,
issue a command to control the effective output of at least one of
a vehicle control component or a vehicle control system.
Description
CROSS-REFERENCE TO RELATED PATENT APPLICATIONS
This patent specification is related to U.S. patent application
Ser. Nos. 10/811,148 and 10/811,149, filed on Mar. 29, 2004, both
to the present inventors and both entitled Rumble Strip Responsive
Systems, the contents of which are incorporated herein in their
entirety.
BACKGROUND OF THE INVENTION
Vehicle control systems and/or vehicle control components (e.g.,
such as those described in U.S. patent application Ser. Nos.
10/811,148 and 10/811,149 both to the present inventors, the
contents of which are incorporated herein in their entirety) may be
used to automatically control one or more vehicle dynamic features,
such as braking, steering, etc., without driver input and/or with
reduced driver input. For example, automatic braking upon
determination that a vehicle is departing from a roadway and/or
automatic steering when a determination has been made that the
vehicle is improperly departing from a roadway might be implemented
to avoid and/or reduce the effects of a collision. These automatic
control systems/automatic control components may be beneficial in
certain instances (herein, such instances will be referred to as
the "normal state" of control operation). The present inventors
have determined that in some instances, however, application of
automatic control system(s) and/or automatic control component(s)
should be tempered depending on certain vehicle environmental
conditions.
SUMMARY OF THE INVENTION
In a first embodiment of the invention, there is a device adapted
to automatically control the effective output of a vehicle control
system/component in response to tire contact with a rumble strip
that includes a processor adapted to receive at least a first
signal indicative of contact of a first vehicle tire with a rumble
strip, wherein the processor includes logic to determine that at
least one vehicle tire is in contact with a rumble strip based at
least on the first signal, and only if the processor has received
the first signal and has determined that the at least one vehicle
tire is in contact with the rumble strip, issue a command to
control the effective output of at least one of a vehicle control
component or a vehicle control system.
In another embodiment of the invention, the device disables a
vehicle control component or a vehicle control system when vehicle
contact with a rumble strip is determined.
In another embodiment of the invention, the device limits a vehicle
control component or a vehicle control system when vehicle contact
with a rumble strip is determined.
In another embodiment of the invention, the device enables a
vehicle control component or a vehicle control system when a
determination is made that the vehicle is departing from a roadway
and that there is no current vehicle contact with a rumble
strip.
In yet another embodiment of the invention, there is a device
adapted to automatically control the effective output of a vehicle
control system/component in response to tire contact with a rumble
strip, comprising a processor adapted to receive at least a first
signal indicative of at least one of (i) contact of a first vehicle
tire with a rumble strip and (ii) absence of contact of the first
vehicle tire with a rumble strip, wherein the processor includes
logic to, determine that no vehicle tire is in contact with a
rumble strip based at least on one of (i) the first signal and (ii)
an absence of the first signal, and only if the processor has
determined that no vehicle tire is in contact with the rumble
strip, issue a command to enable at least one of a vehicle control
component or a vehicle control system.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 presents a schematic of an embodiment according to the
present invention.
FIG. 2. presents a graphical representation of vehicle tire contact
with a rumble strip.
FIG. 3. presents graphical representations of vehicle tire contact
with ice-filled rumble strip grooves.
FIG. 4. presents graphical representations of vehicle tire contact
with a milled-in rumble strip and a rolled-in rumble strip.
FIG. 5. presents a graphical representation of right side vehicle
tire contact with right side rumble strips, where the control
system imparts a yaw on the vehicle tending to direct the vehicle
back onto the road.
FIG. 6. presents a graphical representation of left side vehicle
tire contact with right side rumble strips, where the control
system, if implemented, may impart a yaw on the vehicle tending to
direct the vehicle further off the road.
FIG. 7 presents a flow chart for an algorithm to implement an
embodiment of the present invention, where vehicle control is
implemented only if a determination is made that the vehicle is not
on rumble strips.
FIG. 8 presents a flow chart for an algorithm to implement another
embodiment of the present invention, where vehicle control is
implemented only if a determination is made that the vehicle is not
on rumble strips.
FIG. 9 presents a flow chart for an algorithm to implement another
embodiment of the present invention, where brake control for speed
reduction is prohibited if a determination is made that the vehicle
is on rumble strips.
FIG. 10 presents a flow chart for an algorithm to implement another
embodiment of the present invention, where control gain is
reduced/control parameters are changed if a determination is made
that the vehicle is on rumble strips.
FIG. 11 presents a flow chart for an algorithm to implement another
embodiment of the present invention, where vehicle control is
implemented if an outside temperature is above freezing and the
vehicle is running on rumble strips.
FIG. 12 presents a flow chart for an algorithm to implement another
embodiment of the present invention.
FIG. 13 presents a flow chart for an algorithm to implement another
embodiment of the present invention, where vehicle control is
implemented in a variable manner based on the type of rumble strips
in contact with the vehicle.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
A first embodiment of the present invention, as presented in FIG.
1, relates to a device 100 including a controller 200 that is
adapted to control the effective output of a vehicle control
component and/or a vehicle control system when the device
determines that a vehicle tire is in contact with a rumble strip.
According to a first embodiment of the invention, the controller
200 receives input through a CAN BUS from sensors 300 indicative of
contact of one or more vehicle tires with a rumble strip (e.g., a
sensor as detailed in U.S. patent application Ser. Nos. 10/811,148
and 10/811,149 both to the present inventors, and/or or a sensor
that detects the rotational speed of one or more vehicle tires--an
exemplary system of detecting rumble strips using such phenomenon
being detailed in U.S. patent application Ser. No. 11/094,322,
entitled Rumble Strip Responsive Systems: Discrimination of Types
of Rumble Strips, again to the present inventors, filed on the same
day as this application, the contents of which are incorporated
herein by reference in their entirety.) Such an embodiment
addresses the fact that the coefficient of friction associated with
a vehicle tire in contact with rumble strips may be substantially
different than that of a tire not in contact with a rumble strip.
By coefficient of friction, it is meant the phenomenon that allows
for traction/force conveyance between a vehicle tire and a road
surface, the absence of sufficient coefficient of friction
resulting in tire spin/skid that may frustrate vehicle control in
an undesirable way. Thus, according to this embodiment, by
controlling the effective output of a vehicle control component
and/or a vehicle control system, the phenomenon of differing
coefficients of friction for different tires may be accounted for
and/or undesired effects of such a phenomenon may be mitigated. An
exemplary scenario utilizing this embodiment will first be
described, followed by specific details of some specific
embodiments.
Before describing the exemplary scenario, it is noted that FIG. 1
further presents a vehicle 100 equipped with various components
utilized in collision control/avoidance/warning systems, as well as
lane departure control/avoidance/warning systems (e.g., steering
control/assist, brake control/assist, etc.) Some embodiments of the
invention utilize some or all of these components in combination
with a device to determine the type of rumble strip in contact with
vehicle tire(s). However, it is noted that some or all of these
other components are not necessary to practice other embodiments of
the present invention.
In an exemplary scenario, a vehicle is driving down a roadway lined
with rumble strips on the right side of the road, as shown in FIG.
2. FIG. 2 shows an exemplary road utilizing rumble strips with
respect to a vehicle driving on the rumble strip, where the rumble
strip is a right side rumble strip and the vehicle is deviating
from the lane/road towards the right (with respect to direction of
travel of the vehicle). For one reason or another, the vehicle
deviates from the lane/road and thus the vehicle tire(s) on one
side of the vehicle encounter the rumble strip (e.g., the front
right tire and/or the rear right tire, as shown in FIG. 2).
However, one or more of the other vehicle tire(s) is/are not in
contact with the rumble strip (e.g., the front left tire and/or the
rear left tire, in the event of right side (road) rumble strip
location and deviation from a lane to the right). In this scenario,
due to the fact that one or more vehicle tires is in contact with
the rumble strips and one or more vehicle tires is not in contact
with the rumble strips (i.e., in contact with a normal road
surface), the respective coefficient of friction between these
tires and the road will be different. In most exemplary scenarios,
the coefficient of friction between the tire and rumble strip will
be lower as compared to the coefficient of friction between the
tire and the normal road surface. In such a scenario, were the
driver and/or the control system to apply, for example, brake
control and/or steering control, the resulting effect of that brake
control and/or steering control would be different between the two
wheels. For example, when applying brake control, the vehicle
tire(s) not in contact with the rumble strip would import a greater
braking force onto the vehicle than the vehicle tire(s) in contact
with the rumble strip. This could impart a limited yaw effect on
the vehicle, which, in some circumstances, may be undesirable. For
example, in the scenario just described, where the right side
tire(s) is/are in contact with the rumble strip and the left side
tire(s) is/are not in contact with the rumble strip, upon
application of a braking force, a yaw moment may be imparted onto
the vehicle to the left. Alternatively, in some scenarios, in the
event that the vehicle has deviated from the lane such that the
left side tire(s) is/are in contact with the rumble strip and the
right side tire(s) is/are not in contact with the rumble strip, a
right turning yaw might be induced to the vehicle, thus possibly
further exaggerating road departure. (This latter scenario is
discussed in greater detail below.)
Accordingly, a first embodiment of the present invention addresses
the above described scenario. In a first embodiment of the present
invention, there is a device installed on a vehicle that is adapted
to control the effective output of at least one of a vehicle
control system and/or a vehicle control component, such as element
200 in FIG. 1. By effective output, it is meant the end result of
implementation/absence of implementation of a vehicle control
component/system as such implementation/absence of implementation
affects the dynamics of the vehicle.
In a first embodiment of the present invention, this device
includes a processor that is adapted to receive input, by way of
example, carried on a first signal, that is indicative of contact
of a vehicle tire with a rumble strip. Such input may be received
from a signal generated from a rumble strip sensor utilizing a
vibration sensing mechanism. In other embodiments of the invention,
the processor could receive input carried on a signal from one or
more of the devices, systems and methods disclosed in U.S. patent
application Ser. Nos. 10/811,148 and 10/811,149 to the present
inventors, filed on Mar. 29, 2004, the contents of which are
incorporated herein by reference in their entirety.
The processor also includes logic that may permit the processor to
determine that one or more of the vehicle tire(s) is/are in current
contact with a rumble strip, based on the received input carried by
the first signal. The processor further includes logic such that
upon this determination, the processor may issue a command to
control the effective output of a vehicle control system/vehicle
control component. Thus, in a vehicle utilizing an embodiment of
the first invention, in a scenario described above, the device may
disable a control system and/or a control device that has
previously been activated (i.e., operating in the normal state)
when at least one vehicle tire is in contact with the rumble strip.
By way of example, if the vehicle control system/component results
in automatic braking, the automatic braking feature may be disabled
while the vehicle tire is in contact with the rumble strip. Such
may be done by deactivating the automatic braking control
system/component, intercepting a signal from the automatic braking
control system/component to prevent implementation of automatic
braking, disconnecting the automatic braking control
system/component, etc.
The just described embodiment disables the vehicle control
system/control component upon determination that a vehicle tire is
in contact with the rumble strip. However, in other embodiments,
the effective output of the vehicle control system/component may be
changed from the normal state while a vehicle tire is in contact
with a rumble strip, as opposed to disabling the entire system. By
way of example, a braking force applied by an automatic control
system/component may be limited by reducing the force to, for
example, one-half its "normal" state while the vehicle is in
contact with the rumble strip. Other embodiments of the present
invention may vary this by two-thirds, one-quarter, etc., or by any
other amount necessary to achieve the desired amount of control of
the effective output. Still further, other embodiments may utilize
a time delay to implement braking force, pulsation of the braking
force, and/or real-time adjustment of the braking force, where the
effective output of a braking force from a vehicle control system
is, for example, initially set at 100% of its normal braking force
and then gradually decreases to perhaps 10% or even 0 in the event
that a determination is made that the braking force is not
achieving desired results. In other embodiments of the invention,
change/limitation of the effective output may be achieved by
limiting/reducing the gain of a signal in/from the vehicle control
system/vehicle control component that is determinative of an
effective output of the system/component.
In another embodiment of the present invention, instead of
disabling or limiting the effective results of a vehicle control
system, there is a device that first determines whether a tire of a
vehicle is in contact with a rumble strip, and then, upon
determination that a vehicle tire is not in contact with a rumble
strip, implements the vehicle control system/vehicle component
control when such activation is warranted. That is, in this
embodiment of the present invention, upon a determination that all
four wheels are on a "normal" road surface (i.e., not on a rumble
strip), and that the vehicle is in a situation where a vehicle
control system/vehicle control component should otherwise be
activated, the vehicle control system/vehicle control component is
activated. Thus, an embodiment of the present invention may be
configured such that even though a condition may warrant activation
of a vehicle control system to obtain the effective output, such
activation will not occur if the device determines that one or more
vehicle tires is in contact with a rumble strip.
In another embodiment of the invention, the device shuts down an
already enabled vehicle control system upon a determination that
vehicle tires are in contact with a rumble strip.
In another embodiment of the present invention, the command that
controls the effective output of the vehicle control
component/vehicle control system is based on a determination of
whether the outside temperature is a freezing temperature. In an
exemplary scenario as depicted in FIG. 3, when an outside
temperature drops below freezing, water located in the groves of a
rumble strip could freeze, and thus form pockets of ice on the
roadway. In such an scenario, the coefficient of friction between
the vehicle tires and the road is drastically reduced owning to the
presence of the ice in the grooves of the rumble stripes. In fact,
the ice may become the major driver for this drastic reduction in
coefficient of friction. Thus, an embodiment of the invention
include a device that determines whether to control the effective
output of a vehicle control system/vehicle control component based
on whether or not the outside temperature is at or below freezing.
In such an embodiment, a control system may be activated or
otherwise permitted to perform in the "normal state" when there is
a determination that one or more of the vehicle tires is in contact
with a rumble strip, if the outside temperature is not a freezing
temperature. However, in the event that the outside temperature
does drop below freezing, this embodiment would control the
effective output of the vehicle control component/vehicle control
system as described above. For example, in some embodiments, the
vehicle control system may be disabled while in other embodiments
the output may be limited, etc.
In still other embodiments, activation of a vehicle control
system/vehicle control component will be determined based on
whether the temperature is a freezing temperature. Thus, if the
outside temperature is below freezing and the determination is made
that the vehicle is running on rumble strips, the control system
will not be activated. However, if the determination is made that
the vehicle is running on rumble strips but the outside temperature
is not below freezing (i.e., is above freezing), the vehicle
control system will be activated.
In yet other embodiments, effective output of the vehicle control
system/components varies based on whether the outside temperature
is a freezing temperature. For example, if the vehicle is running
on a rumble strip and the outside temperature is above a freezing
temperature, the effective output will be reduced by a first amount
(e.g., braking force could be reduced by 1/2), and if the vehicle
is running on a rumble strip and the outside temperature is a
freezing temperature the effective output will be reduced by a
second amount (e.g., braking force could be reduced by 3/4) that is
different from the first amount.
It is noted at this point that while may of the embodiments
described herein relate to line rumble strips (rumble strips on the
shoulder of a road, center-road rumble strips, etc.), the
temperature-dependent embodiment may also be used for in-lane
rumble strips (rumble strips that extend across a lane, such as,
for example, those in a road that may be encountered as a vehicle
approaches a toll center). Thus, in the embodiment just described,
where the command is issued based in further part on temperature
based on outside temperature, the vehicle control component/vehicle
control system could be disabled or enabled or the effective output
of the vehicle control component/vehicle control system could be
controlled to address instances where the vehicle is on in-lane
rumble strips. That is, in the embodiment which is sensitive to the
outside temperature, the effective output of a vehicle control
component/vehicle control system may be controlled when both the
left and right tires are on rumble strips.
Another embodiment of the present invention addresses control of
the effective output of vehicle control components/system in view
of different types of rumble strips encountered on a road. For
example, some rumble strips are milled-in rumble strips and others
are rolled-in rumble strips, as may be seen in FIG. 4. Milled-in
rumble strips typically have wider grooves (with respect to road
direction), while rolled-in rumble strips typically have grooves
that are spaced closer together and are narrower than the milled-in
rumble strips. The coefficient of friction between the tire and a
milled-in rumble strip will be different than a coefficient of
friction between a tire and a rolled-in rumble strip. Accordingly,
embodiment of the present invention determines the type of rumble
strip and controls the effective output of the control
device/system based on this determination. Thus in one embodiment
of the present invention, there is a device that includes a
processor adapted to receive an input that is indicative of a type
of rumble strip that is contact with the vehicle tire. This
processor may include logic to analyze the input and issue the
command to effectively control the system/component based on the
type of rumble strip in contact with the tire. For example, the
logic may determine (e.g., by frequency analysis and/or by
amplitude analysis) that the input is indicative of a rolled-in
rumble strip and differentiate between a rolled-in rumble strip and
a milled-in rumble strip.
Other embodiments may simply utilize logic that determines that the
input is not indicative of a given type of rumble strip and/or the
logic ignores all other types of input that are not indicative of a
given rumble strip. Thus, this embodiment of the invention may be
practiced with any device, system or method that will permit
differentiation between at least two types of rumble strips and/or
identification of at least one type of rumble strip, and use this
determination/identification to determine whether to issue a
command or determine what command shall be issued to control the
effective output of a vehicle control component/vehicle control
system. By way of exemplary embodiment, if the device determines
that the vehicle is running on milled-in rumble strips, the issued
command could disable the vehicle control device and/or the vehicle
control system, whereas if a determination is made that the vehicle
is running on rolled-in rumble strips, no disablement of the
vehicle control component or the vehicle control system will be
made. Alternatively by way of exemplary embodiment, if the device
determines that the vehicle is running on milled-in rumble strips,
the issued command could reduce the effective output of the vehicle
control device and/or the vehicle control system by, for example,
1/2, whereas if a determination is made that the vehicle is running
on rolled-in rumble strips, the issued command could reduce the
effective output of the vehicle control device and/or the vehicle
control system by, for example, 1/4.
Yet another embodiment of the present invention relates to
determining a state of road departure of a vehicle and, from that
determination, determining whether to issue the command to control
the effective output of the vehicle control system/vehicle control
component. By way of exemplary scenario as presented in FIGS. 5 and
6, if a vehicle begins to depart from a road on which a rumble
strip is located on the right side of the road, the right side
vehicle tires will first contact the rumble strip (see FIG. 5). In
such a scenario, the coefficient of friction between the road and
the tires on the right side of the vehicle will be lower than that
of the tires on the left side of the vehicle. Thus, any applied
braking force to the vehicle will be lower on the right side than
on the left side. In such an exemplary scenario, if, for example,
braking control is applied the vehicle, a yaw will be imparted to
the left because the left side tires will impart a greater braking
force than the right side tires. This will have the beneficial
result of imparting a yaw that will direct the vehicle back towards
the roadway. (An embodiment of the invention that addresses this
example is detailed below.) However, if the vehicle continues to
deviate from the road such that the left side vehicle tires come
into contact with the rumble strips but the right side vehicle
tires still remain on the road surface (i.e., the shoulder of the
road), as is shown at FIG. 6, if braking control is applied, a yaw
will be imparted on the vehicle to the right, thus further
exaggerating a road departure situation. Therefore, an embodiment
of the present invention addresses at least the latter scenario by
determining if vehicle tires are in continued contact with a rumble
strip and determining whether the vehicle is in a state of
continued road departure. If there is continued contact between a
tire and a rumble strip and it is also determined that the vehicle
is continuing to depart from the road, a device will issue a
command to control the effective output of a vehicle control
component or vehicle control system.
Still further, another embodiment of the present invention that
addresses the road departure scenarios described in the above
paragraph includes a device having a processor that is adapted to
receive a first input indicative of a side of the vehicle on which
the tire in contact with the rumble strip is located, and receive a
second input indicative of the state of the vehicle with respect to
road departure and a direction of road departure. For example, in
the scenario depicted in FIG. 5, the processor would receive
signals and determine that the right side tires are in contact with
the rumble strip and that the vehicle is in a state of departure
such that the vehicle is departing from the road towards the right.
The device according to this embodiment may further determine
whether the vehicle is in a continued state of road departure. The
device so enabled will include logic to determine from the received
signals whether the direction of road departure is opposite to the
side of the vehicle on which the vehicle tire in continued contact
with the rumble strip is located, such as in the exemplary scenario
of FIG. 6. If such is the case, the device according to this
exemplary embodiment would not issue a command to control the
effective output of a vehicle control component/vehicle control
system to avoid undesirable vehicle yaw. However, in regard to the
scenario of FIG. 5, where the direction of road departure is on the
same side of the vehicle as that of the vehicle tire(s) in
continued contact with the rumble strip, in a device so enabled, no
determination would be made that the direction of road departure is
opposite to the side of the vehicle on which the vehicle tire in
continued contact with the rumble strip is located (because the
pertinent signals would not be received), and, since application of
an automatic braking force should impart beneficial yaw to the
vehicle, no command to disable or limit the vehicle control
component/vehicle control system would be issued and/or the
component/system may be activated.
In another embodiment of the invention, if the vehicle is in a
state of continued road departure, and, with respect to a lateral
direction of the vehicle, if the direction of road departure is
opposite the side of the vehicle on which the vehicle tire in
continued contact with the rumble strip is located, the device
issues a command to change a ratio of right to left automatic brake
application. In this embodiment, the ratio of right to left
automatic brake application is greater than one if the side of the
vehicle on which the vehicle tire in continued contact with the
rumble strip is located is the right side, and the ratio of right
to left automatic brake application is less than one if the side of
the vehicle on which the vehicle tire in continued contact with the
rumble strip is located, is the left side.
It will be noted that the term "contact" as used herein refers to
the scenario where the tires are in actual contact with a rumble
strip. Such may be determined, by way of example, thought a rumble
strip detection system that utilizes a sprung mass sensor, etc., to
detect vibration of a vehicle due to contact with a rumble strip.
However, other embodiments of the present invention may utilize a
rumble strip detection system such that imminent rumble strip
contact may be detected. That is, prior to contact of the tire with
the rumble strip, the system may identify the rumble strip and
consider the rumble strip to be "contacted," even though actual
physical contact is not actually present. Such a system may utilize
an image recognition system and/or a laser system etc., coupled
with a processor, to detect the rumble strip and calculate or
otherwise determine a likelihood of rumble strip contact within a
given period of time, and if that likelihood achieves a
predetermined limit, consider the rumble strip contacted.
Accordingly, an embodiment of the present invention may utilize a
device that determines or estimates imminent contact between a tire
and a rumble strip before the tire actually contacts the rumble
strip. Thus, by "contact" with a rumble strip, it is also meant
expected/anticipated imminent contact. Thus, embodiments of the
present invention are not restricted to utilizing systems that only
determine actual contact with a rumble strip. Some embodiments
therefore also include devices that predict contact with a rumble
strip and assume that contact has been made with the rumble
strip/prepare for expected contact with the rumble strip.
To implement some or all of the embodiments described above, some
embodiments of the device according to the present invention may be
directly intertwined/interconnected with the vehicle control system
such that the vehicle control system includes the device according
to the present invention. In other embodiments of the present
invention, the device functions as a supervisory device such that
it may enable/disable/shutdown/limit, etc., the effective output of
the vehicle control system/device from outside the system/device.
It is noted that in both such situations, the device may function
to limit a control of the effective results of the control
system/control device.
FIGS. 7-13 illustrate specific implementations of the invention.
One of skill in the art will understand that these figures provided
some examples of the techniques described in detail above. Because
such techniques have been described in detail above and/or may
readily be implemented by one of ordinary skill in the art based on
the figures in combination with the teachings and knowledge in the
art, a detailed description of these figures is not provided. FIG.
7 presents a flow chart for an algorithm to implement an embodiment
of the present invention, where vehicle control is implemented only
if a determination is made that the vehicle is not on rumble
strips. FIG. 8 presents a flow chart for an algorithm to implement
another embodiment of the present invention, where vehicle control
is implemented only if a determination is made that the vehicle is
not on rumble strips. FIG. 9 presents a flow chart for an algorithm
to implement another embodiment of the present invention, where
brake control for speed reduction is prohibited if a determination
is made that the vehicle is on rumble strips. FIG. 10 presents a
flow chart for an algorithm to implement another embodiment of the
present invention, where control gain is reduced/control parameters
are changed if a determination is made that the vehicle is on
rumble strips. FIG. 11 presents a flow chart for an algorithm to
implement another embodiment of the present invention, where
vehicle control is implemented if an outside temperature is above
freezing and the vehicle is running on rumble strips. FIG. 12
presents a flow chart for an algorithm to implement another
embodiment of the present invention. FIG. 13 presents a flow chart
for an algorithm to implement another embodiment of the present
invention, where vehicle control is implemented in a variable
manner based on the type of rumble strips in contact with the
vehicle.
The present invention includes methods of practicing the invention,
software to practice the invention, and apparatuses configured to
implement the present invention. Accordingly, the present invention
includes a program product and hardware and firmware for
implementing algorithms to practice the present invention, as well
as the systems and methods described herein, and also for the
control of the devices and implementation of the methods described
herein.
It is noted that the term "vehicle" as used herein encompasses
cars, trucks, SUVs, minivans, and all other types of land vehicles
operating on public roads.
It is noted that the term "processor," as used herein, encompasses
both simple circuits and complex circuits, as well as computer
processors. It is also noted that the term "logic," as used herein,
encompasses both hardware, firmware, and software to implement
logic.
Given the disclosure of the present invention, one versed in the
art would appreciate that there are other embodiments and
modifications within the scope and spirit of the present invention.
Accordingly, all modifications attainable by one versed in the art
from the present disclosure within the scope and spirit of the
present invention are to be included as further embodiments of the
present invention.
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